ros中NodeHandle类的subscribe()函数使用报错问题

Posted 2022-03-16 kerngeeksund

在使用ros写订阅者时，代码如下：

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <boost/thread.hpp>
#include <sensor_msgs/PointCloud2.h> 
#include <nav_msgs/Odometry.h> 
#include <typeinfo>

class multiThreadListener

public:
    void chatterCallback1(const nav_msgs::Odometry::ConstPtr &input_msg, std::string topicName);
    void chatterCallback2(const sensor_msgs::PointCloud2ConstPtr& input_msg, std::string topicName);
    multiThreadListener();

private:
    ros::NodeHandle n;
    std::string name1;
    std::string name2;
    ros::Subscriber sub1;
    ros::Subscriber sub2;
;

multiThreadListener::multiThreadListener()
    
    name1 = "/navsat/odom";
    name2 = "/radar_cloud";
  
    sub1 = n.subscribe("/navsat/odom", 10, boost::bind(&multiThreadListener::chatterCallback1, this, _1, name1));
    sub2 = n.subscribe("/radar_cloud", 10, boost::bind(&multiThreadListener::chatterCallback2, this,_1, name2));


void multiThreadListener::chatterCallback1(const nav_msgs::Odometry::ConstPtr &input_msg, std::string topicName)

  ROS_INFO("I heard: [%s]", topicName);
  ros::Rate loop_rate(0.5);//block chatterCallback1()
  loop_rate.sleep();



void multiThreadListener::chatterCallback2(const sensor_msgs::PointCloud2ConstPtr& input_msg, std::string topicName)

  ROS_INFO("I heard: [%s]", topicName);
  ros::Rate loop_rate(0.5);//block chatterCallback2()
  loop_rate.sleep();

  

int main(int argc, char **argv)


  ros::init(argc, argv, "multi_sub");

  multiThreadListener listener_obj;
  ros::MultiThreadedSpinner s(2);
  ros::spin(s);

  return 0;

编译总是报如下错，

error: no matching function for call to ‘ros::NodeHandle::subscribe(const char [13], int, boost::_bi::bind_t<void, boost::_mfi::mf2<void, multiThreadListener, 
const boost::shared_ptr<const nav_msgs::Odometry_<std::allocator<void> > >&, std::__cxx11::basic_string<char> >, boost::_bi::list3<boost::_bi::value<multiThreadListener*>, 
boost::arg<1>, boost::_bi::value<std::__cxx11::basic_string<char> > > >)’  sub1 = n.subscribe("/navsat/odom", 10, boost::bind(&multiThreadListener::chatterCallback1, this, _1, name1));

原因是subscribe()函数在使用函数对象时，如boost::bind()函数返回的对象，必须要明确指定消息类型作为模板参数，因为编译器无法推断它。

上面就是没有指明导致的错误。

在查看NodeHandle.h源码查看subscribe()函数的定义如下

template<class M, class T>
Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(T::*fp)(M), T* obj, const TransportHints& transport_hints = TransportHints())

     ...


template<class M, class T>
Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr<M const>&), T* obj, const TransportHints& transport_hints = TransportHints())

    ...


template<class M, class T>
Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(T::*fp)(M), const boost::shared_ptr<T>& obj, const TransportHints& transport_hints = TransportHints())

    ...


template<class M, class T>
Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr<M const>&), const boost::shared_ptr<T>& obj, const TransportHints& transport_hints = TransportHints())

    ...


template<class M>
Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(*fp)(M), const TransportHints& transport_hints = TransportHints())

    ...


template<class M>
Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(*fp)(const boost::shared_ptr<M const>&), const TransportHints& transport_hints = TransportHints())

    ...


template<class M>
Subscriber subscribe(const std::string& topic, uint32_t queue_size, const boost::function<void (const boost::shared_ptr<M const>&)>& callback,
                           const VoidConstPtr& tracked_object = VoidConstPtr(), const TransportHints& transport_hints = TransportHints())

    ...


template<class M, class C>
Subscriber subscribe(const std::string& topic, uint32_t queue_size, const boost::function<void (C)>& callback,
                           const VoidConstPtr& tracked_object = VoidConstPtr(), const TransportHints& transport_hints = TransportHints())

    ...

很显然，subscribe是模板函数，在传入boost::function类型时，需要传入模板参数，上面的代码

sub2 = n.subscribe("/radar_cloud", 10, boost::bind(&multiThreadListener::chatterCallback2, this,_1, name2));

传入了三个参数，第三个参数中的chatterCallback2()的第一个参数时sensor_msgs::PointCloud2ConstPtr，其定义是

typedef boost::shared_ptr< ::sensor_msgs::PointCloud2 const> sensor_msgs::PointCloud2ConstPtr

显然，上面代码使用的subscribe()函数是下面这个版本

template<class M>
Subscriber subscribe(const std::string& topic, uint32_t queue_size, const boost::function<void (const boost::shared_ptr<M const>&)>& callback,
                           const VoidConstPtr& tracked_object = VoidConstPtr(), const TransportHints& transport_hints = TransportHints())

    ...

故，正确的代码应该如下

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <boost/thread.hpp>
#include <sensor_msgs/PointCloud2.h> 
#include <nav_msgs/Odometry.h> 
#include <typeinfo>

class multiThreadListener

public:
    void chatterCallback1(const nav_msgs::Odometry::ConstPtr &input_msg, std::string topicName);
    void chatterCallback2(const sensor_msgs::PointCloud2ConstPtr& input_msg, std::string topicName);
    multiThreadListener();

private:
    ros::NodeHandle n;
    std::string name1;
    std::string name2;
    ros::Subscriber sub1;
    ros::Subscriber sub2;
;

multiThreadListener::multiThreadListener()
    
    name1 = "/navsat/odom";
    name2 = "/radar_cloud";

    sub1 = n.subscribe<nav_msgs::Odometry>("/navsat/odom", 10, boost::bind(&multiThreadListener::chatterCallback1, this, _1, name1));
    sub2 = n.subscribe<sensor_msgs::PointCloud2>("/radar_cloud", 10, boost::bind(&multiThreadListener::chatterCallback2, this,_1, name2));


void multiThreadListener::chatterCallback1(const nav_msgs::Odometry::ConstPtr &input_msg, std::string topicName)

  ROS_INFO("I heard: [%s]", topicName);
  ros::Rate loop_rate(0.5);//block chatterCallback1()
  loop_rate.sleep();



void multiThreadListener::chatterCallback2(const sensor_msgs::PointCloud2ConstPtr& input_msg, std::string topicName)

  ROS_INFO("I heard: [%s]", topicName);
  ros::Rate loop_rate(0.5);//block chatterCallback2()
  loop_rate.sleep();

  

int main(int argc, char **argv)


  ros::init(argc, argv, "multi_sub");

  multiThreadListener listener_obj;
  ros::MultiThreadedSpinner s(2);
  ros::spin(s);

  return 0;

编译通过。